function Vp_1 = Epipolar_Curve(FundamentalMatrix,xc,yc,Up)

F=FundamentalMatrix;
[rows,cols]=size(xc);
Vp_1=zeros(rows,cols);
for i = 1:rows
    for j = 1:cols
                L=F*[xc(i,j);yc(i,j);1];
                Vp_1(i,j)=-L(3,1)-Up(i,j)*L(1,1);
                Vp_1(i,j)=Vp_1(i,j)./L(2,1);
    end
end


